Validation of path by collision checking at discretized parameter values. More...
#include <hpp/core/discretized-collision-checking.hh>
Public Member Functions | |
virtual bool | validate (const PathPtr_t &path, bool reverse, PathPtr_t &validPart) |
Compute the largest valid interval starting from the path beginning. More... | |
virtual bool | validate (const PathPtr_t &path, bool reverse, PathPtr_t &validPart, ValidationReport &validationReport) |
Compute the largest valid interval starting from the path beginning. More... | |
virtual void | addObstacle (const CollisionObjectPtr_t &) |
Add an obstacle. More... | |
virtual void | removeObstacleFromJoint (const JointPtr_t &joint, const CollisionObjectPtr_t &obstacle) |
Remove a collision pair between a joint and an obstacle. More... | |
Static Public Member Functions | |
static DiscretizedCollisionCheckingPtr_t | create (const DevicePtr_t &robot, const value_type &stepSize) |
Protected Member Functions | |
DiscretizedCollisionChecking (const DevicePtr_t &robot, const value_type &stepSize) | |
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PathValidation () | |
Validation of path by collision checking at discretized parameter values.
Should be replaced soon by a better algorithm
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Remove a collision pair between a joint and an obstacle.
joint | the joint that holds the inner objects, |
obstacle | the obstacle to remove. collision configuration validation needs to know about obstacles. This virtual method does nothing for configuration validation methods that do not care about obstacles. |
Reimplemented from hpp::core::PathValidation.
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Compute the largest valid interval starting from the path beginning.
path | the path to check for validity, |
reverse | if true check from the end, |
validPart | the extracted valid part of the path, pointer to path if path is valid. |
report | information about the validation process. The type can be derived for specific implementation |
Implements hpp::core::PathValidation.
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virtual |
Compute the largest valid interval starting from the path beginning.
path | the path to check for validity, |
reverse | if true check from the end, |
validPart | the extracted valid part of the path, pointer to path if path is valid. |
validationReport | information about the validation process: which objects have been detected in collision and at which parameter along the path. |
Implements hpp::core::PathValidation.